Concepedia

Capture Point Control

Capture Point Control is a feedback control strategy in bipedal locomotion that regulates dynamic stability by steering the center of mass toward a predicted point of capture on the ground, where stepping can halt motion without further corrective steps.

33

Publications

3.1K

Citations

94

Authors

37

Institutions

Publications per year

2017–2026

10

Parents

Publications

33

Capture Point: A Step toward Humanoid Push Recovery

Jerry Pratt, John Carff, S. Drakunov et al. · 2006 · 1.1K citations

, , +13

Three-Dimensional Bipedal Walking Control Based on Divergent Component of Motion

Johannes Englsberger, Christian Ott, Alin Albu‐Schäffer · IEEE Transactions on Robotics · 2015 · 366 citations

, , +17

Capturability-based analysis and control of legged locomotion, Part 2: Application to M2V2, a lower-body humanoid

Jerry Pratt, Twan Koolen, Tomas de Boer et al. · The International Journal of Robotics Research · 2012 · 263 citations

, , +17

Bipedal walking control based on Capture Point dynamics

Johannes Englsberger, Christian Ott, Máximo A. Roa et al. · 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems · 2011 · 251 citations

, , +17

Bipedal walking control based on Capture Point dynamics

Johannes Englsberger, Christian Ott, Máximo A. Roa et al. · 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems · 2011 · 132 citations

, , +17

1–5 of 33

Authors

94

  1. JE
    Johannes Englsberger

    Deutsches Zentrum für Luft- und Raumfahrt e. V. (DLR), Germany

    7 publications · 1K citations

    7

    h-index

  2. CO
    Christian Ott

    Deutsches Zentrum für Luft- und Raumfahrt e. V. (DLR), Germany

    7 publications · 1K citations

    7

    h-index

  3. AA
    Alin Albu‐Schäffer

    Deutsches Zentrum für Luft- und Raumfahrt e. V. (DLR), Germany

    4 publications · 880 citations

    4

    h-index

  4. JO
    Jun-Ho Oh

    Korea Advanced Institute of Science and Technology, South Korea

    3 publications · 117 citations

    3

    h-index

  5. MA
    Máximo A. Roa

    Deutsches Zentrum für Luft- und Raumfahrt e. V. (DLR), Germany

    3 publications · 405 citations

    3

    h-index

1–5 of 94

Institutions

37

  1. Deutsches Zentrum für Luft- und Raumfahrt e. V. (DLR)

    Cologne, Germany

    8 h-index

    28 publications

    3.9K citations

  2. Florida Institute for Human and Machine Cognition

    Pensacola, United States

    3 h-index

    10 publications

    5K citations

  3. Korea Advanced Institute of Science and Technology

    Daejeon, South Korea

    3 h-index

    11 publications

    221 citations

  4. Ajou University

    Suwon, South Korea

    2 h-index

    4 publications

    106 citations

  5. University of Nevada, Las Vegas

    Las Vegas, United States

    1 h-index

    2 publications

    26 citations

  6. Centre National de la Recherche Scientifique

    Paris, France

    1 h-index

    3 publications

    51 citations

  7. Advanced Institute of Convergence Technology

    Suwon, South Korea

    1 h-index

    1 publications

    18 citations

  8. University of Kaiserslautern

    Kaiserslautern, Germany

    1 h-index

    3 publications

    45 citations

1–8 of 37

Venues

  1. IEEE Transactions on Robotics

    2 publications · 384 citations

    2

    h-index

  2. 2

    h-index

  3. Sensors

    1 publications · 16 citations

    1

    h-index

  4. 1

    h-index

  5. 1

    h-index

1–5